renishaw SPA2-2 User Manual

Installation guide

H-1000-5247-01-A

SPA2-2 servo power amplifier

© 2007 Renishaw plc. All rights reserved.

This document may not be copied or reproduced in whole or in
part, or transferred to any other media or language, by any means,
without the prior written permission of Renishaw.

The publication of material within this document does not imply
freedom from the patent rights of Renishaw plc.

Disclaimer

Considerable effort has been made to ensure that the contents of
this document are free from inaccuracies and omissions. However,
Renishaw makes no warranties with respect to the contents of
this document and specifically disclaims any implied warranties.
Renishaw reserves the right to make changes to this document
and to the product described herein without obligation to notify any
person of such changes.

Trademarks

RENISHAW® and the probe emblem used in the RENISHAW logo

are registered trademarks of Renishaw plc in the UK and other
countries.

apply innovation is a trademark of Renishaw plc.

All brand names and product names used in this document are
trade names, service marks, trademarks, or registered trademarks
of their respective owners.

Renishaw part no: H-1000-5247-01-A

Issued: 03 2007

SPA2-2

Installation guide

2 FCC

FCC

Information to user (FCC section 15.105)

This equipment has been tested and found to comply with the limits for a class A digital device, pursuant
to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial environment. This equipment generates,
uses and can radiate radio frequency energy and, if not installed and used in accordance with the
installation manual, may cause harmful interference to radio communications. Operation of this equipment
in a residential area is likely to cause harmful interference, in which case you will be required to correct the
interference at your expense.

Information to user (FCC section 15.21)

The user is cautioned that any changes or modifications not expressly approved by Renishaw PLC or
authorised representative could void the user’s authority to operate the equipment.

EC declaration of conformity 3

EC declaration of conformity

Renishaw plc declare that the product: -

Name Description
SPA2-2 Servo power amplifier

has been manufactured in conformity with the following standards: -

BS EN 61326:1998/ Electrical equipment for measurement, control and laboratory

inc. amendments use - EMC requirements.
A1:1998/A2:2001/ Immunity to annex A - industrial locations.
A3:2003 Emissions to class A (non-domestic) limits.

BS EN 61010-1:2001 Safety requirements for electrical equipment for measurement,

control and laboratory use.
Part 1: General requirements.

BS EN 60204-1:2006 Safety of machinery - Electrical equipment of machines -
Part 1: General requirements

and that it complies with the requirements of directives (as amended): -

89/336/EEC - Electromagnetic compatibility (EMC)

98/37/EC - Machinery

73/23/EEC - Low voltage

The above information is summarised from the full EC declaration of conformity. A copy is available from
Renishaw on request.

4

Care of equipment

Renishaw probes and associated systems are precision tools used for obtaining precise measurements
and must therefore be treated with care.

Remove dust from the external surfaces with a clean, dry cloth as the unit is not sealed against fluids /
water.

Changes to Renishaw products

Renishaw reserves the right to improve, change or modify its hardware or software without incurring any
obligations to make changes to Renishaw equipment previously sold.

Warranty

Renishaw plc warrants its equipment for a limited period (as set out in our Standard Terms and Conditions
of Sale) provided that it is installed exactly as defined in associated Renishaw documentation.

Prior consent must be obtained from Renishaw if non-Renishaw equipment (e.g. interfaces and/or cabling)
is to be used or substituted. Failure to comply with this will invalidate the Renishaw warranty.

Claims under warranty must be made from authorised service centres only, which may be advised by the
supplier or distributor.

Machine safety

WARNING: Switching off or isolating the SPA2-2 may NOT prevent unexpected machine

!

movement. The user is advised to isolate the machine from the electricity supply, compressed air
or other energy sources in accordance with the machine manufacturer's instructions before
entering the danger zone or performing any maintenance operations.

If the equipment is used in a manner not specified by the manufacturer, the protection provided by the
equipment may be impaired.

References and associated documents 5

References and associated documents

It is recommended that the following documentation is referred to when installing the SPA2-2.

Renishaw documents

Documentation supplied on Renishaw UCC software CD.

Document number Title

H-1000-5223 UCC2 controller installation guide

H-1000-5057 UCC controller programmer’s guide

H-1000-5058 RENICIS user’s guide

H-1000-5067 MCU installation and user’s guide

H-1000-5109 UCClite installation guide

H-1000-5246 Digital SPA tuning guide

External documents

National and international standards including the following may be applicable to the finished machine or
installation:

BS EN ISO 12100-2:2003 (Safety of machinery - Basic concepts, general principles for design - Part 2:

Technical principles and specifications.

BS EN (IEC) 60204-1:2006 (Safety of machinery - Electrical equipment of machines -

Part 1: General requirements).

6

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Contents 7

Contents

1 System description ............................................................................................................................. 9

1.1 Electrical requirements............................................................................................................. 9

1.2 Environmental requirements .................................................................................................. 10

1.3 Output specification................................................................................................................ 11

1.4 SPA2-2 system components .................................................................................................. 11

1.4.1 SPA2-2 DC motor kits...................................................................................................11

1.4.2 SPA2-2 DC motor connector kit....................................................................................12

1.4.3 SPA2-2 4th axis interface card kit..................................................................................12

1.4.4 Dual SPA2-2 integration kit...........................................................................................12

1.4.5 SPA2-2 DC connector kit..............................................................................................12

1.4.6 SPA2-2 and UCC2 system layout.................................................................................13

1.4.7 SPA2-2 and UCClite.....................................................................................................13

2 Front panel description..................................................................................................................... 14

2.1 Axes status LEDs ................................................................................................................... 14

2.1.1 LED positions and axis link 3 axis / 6 axis ....................................................................14

2.2 ESTOP LED ........................................................................................................................... 14

2.3 Air cooling fan inlet ................................................................................................................. 14

3 Rear panel description...................................................................................................................... 15

3.1 Rear panel – 3 axis system .................................................................................................... 15

3.2 Rear panel – 6 axis system .................................................................................................... 16

3.3 Connections ........................................................................................................................... 16

3.3.1 Encoder connectors ......................................................................................................16

3.3.2 Motor connector ............................................................................................................17

3.3.3 UCC2 emergency stop connection ...............................................................................17

3.3.4 SPA, -A, -B, -C, -D connections....................................................................................17

3.3.5 External emergency stop connection............................................................................18

3.4 Motor connectors ................................................................................................................... 19

3.4.1 DC motor connection card termination .........................................................................19

3.4.2 Additional axis interface card termination .....................................................................20

3.5 Encoder interface ................................................................................................................... 21

4 Hardware configuration of the SPA2-2............................................................................................. 22

4.1 Fitting a motor connection card .............................................................................................. 22

4.1.1 Recommended procedure to install the motor connection cards..................................22

4.2 Fitting the 4th axis option card ................................................................................................ 23

4.2.1 Recommended procedure to install the 4th axis interface card .....................................23

4.3 Fitting the REVO™ connector card ........................................................................................ 24

4.4 Mounting the SPA2-2 ............................................................................................................. 25

8 Contents

4.4.1 Stand alone mounting .................................................................................................. 25

4.4.2 Mounting in a 19” rack.................................................................................................. 26

5 System installation............................................................................................................................ 27

5.1 General................................................................................................................................... 27

5.2 Testing and verification .......................................................................................................... 27

5.3 Cable preparation ................................................................................................................... 27

5.3.1 ESTOP / Reset ............................................................................................................ 28

5.3.2 Axis motors .................................................................................................................. 28

5.4 Replacing an SPA2-2 unit ...................................................................................................... 29

6 Interconnection schemes.................................................................................................................. 31

6.1 UCC2 DC motor and tacho connection .................................................................................. 31

6.2 UCClite DC motor and tacho connection ............................................................................... 32

6.3 Dual SPA2-2 DC motor and tacho configuration .................................................................... 33

6.4 Preparation of integration kits.................................................................................................34

6.4.1 Motor connectors ......................................................................................................... 34

6.4.2 Emergency stop and reset switch ................................................................................ 35

7 Revision history ................................................................................................................................ 36

System description 9

1 System description

The SPA2-2 is a digital servo power amplifier solution designed specifically for use with the Renishaw
UCC2 or UCClite controller.

The SPA2-2 is capable of controlling up to seven axes of movement but is customer configurable to the

requirements of the installation.

The features offered by the SPA2-2 are:

• Two base units

• SPA2-2 3-axis: This is the basic 3-axis configuration suitable for conventional CMMs fitted with

brushed dc motors. It can accommodate tacho, tacholess and encoder velocity feedback
systems. An additional card can be fitted to extend this unit to a 4-axis system.

• SPA2-2 6-axis: This configuration is suitable for installations requiring between 5 or 6 axis

amplifiers. Like the 3-axis version it can accommodate tacho, tacholess and encoder velocity
feedback systems. An additional axis card can be fitted to extend this unit to a 7-axis system.

• Two SPA2-2 units can be combined in a single system permitting a servo power amplifier

solution with an overall power rating of 1100 W.

• Configurable motor voltage

• The SPA2-2 motor voltage can be configured by software to support a wide range of motor

voltages within the range of 12 V and 60 V. The current limit can also be configured up to a
maximum of 5 A continuous, 10 A peak.

• The voltage setting of each axis is independent and therefore it is possible to have each
machine motor driven by a different voltage.

• DC analogue tacho, tacholess or encoder compatibility

• The UCC2 or UCClite and SPA2-2 control solution has the ability to support different types of

velocity control loop based on the feedback to the controller.

• Three control loop feedback methods are integrated into the standard design of the system,
these are analogue tacho based feedback system from the motor, obtaining the feedback from
the scales of the CMM or from a motor mounted encoder system.

NOTE: The UCClite product only permits 3-axis of machine control.

1.1 Electrical requirements

The SPA2-2 is powered from the a.c. mains supply via a connector to IEC 60320/C14. The electrical

ratings of the unit are as follows:

100 – 240 V ac +10%, -15% 47 – 63 Hz 750 W maximum

This equipment must be connected to a protective earth conductor via a three core mains (line) cable. The
mains plug shall be inserted only into a socket outlet provided with a protective earth contact. The
protective earth contact shall not be negated by the use of an extension cable without protective
conductor.

10 System description

WARNING: Any interruption of the protective conductor may make the equipment dangerous.

!

Make sure that the grounding requirements are strictly observed.

NOTE: An earth stud (M5 thread) is provided to allow bonding of the CMM metal parts to the protective
earth. When the SPA2-2 is used with the UCC2 or UCClite controller the CMM frame should be bonded to
both the UCC and the SPA2-2 earth studs.

The SPA2-2 is isolated from AC power by disconnecting the IEC mains connector on the rear panel. This

should be sited within easy reach of the CMM operator. If any additional means of isolation is required, it
must be specified and fitted by the machine manufacturer or the installer of the product. The disconnection
device must meet the requirements of IEC 61010-1 and any national wiring regulations applicable in the
country of installation.

The use of a suitable RCD (residual current device), for automatic disconnection in the event of an
insulation failure, is recommended. The protection device must meet the requirements of IEC 61010-1
and any national wiring regulations applicable in the country of installation.

The installer must ensure that adequate mains over-current protection is provided for the controller
equipment (UCC and SPA). See the electrical requirements sections of the appropriate installation
guides. This must be in accordance with any national wiring regulations applicable in the country of
installation.

1.2 Environmental requirements

Indoor use IP20 (no protection against water)*

Altitude up to 2000 m

Operating temperature 0 °C to +50 °C

Storage temperature -25 °C to +70 °C

Relative humidity 80% maximum (non-condensing) for temperatures up to +31 °C.

Linear decrease to 50% at +40 °C

Transient overvoltages Installation category II

Pollution degree 2

Maximum weight 9.48Kg (20.9 lb) (7-axis system)

*NOTE: If a higher IP rating is required an additional external enclosure will be required to house the
SPA2-2. This enclosure must enable the internal ambient temperature to remain within the SPA2-2

operating temperature range.